CN112970428B - Under-actuated picking manipulator - Google Patents
Under-actuated picking manipulator Download PDFInfo
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- CN112970428B CN112970428B CN202110194338.5A CN202110194338A CN112970428B CN 112970428 B CN112970428 B CN 112970428B CN 202110194338 A CN202110194338 A CN 202110194338A CN 112970428 B CN112970428 B CN 112970428B
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- knuckle
- finger
- rod
- picking manipulator
- differential
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- 239000000741 silica gel Substances 0.000 claims description 3
- 229910002027 silica gel Inorganic materials 0.000 claims description 3
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- 235000013399 edible fruits Nutrition 0.000 abstract description 26
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Images
Classifications
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D46/00—Picking of fruits, vegetables, hops, or the like; Devices for shaking trees or shrubs
- A01D46/30—Robotic devices for individually picking crops
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0009—Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
Abstract
The invention discloses an under-actuated picking manipulator which is fixed at the tail end of a picking mechanical arm and comprises: the mechanical arm connecting part, the power transmission part, the frame, at least three picking mechanical arm components and the inter-finger reversing mechanism; the head end of the rack is fixedly connected with the mechanical arm connecting frame part, the tail end of the rack is connected with the picking manipulator assembly, the power transmission part is arranged between the mechanical arm connecting frame part and the picking manipulator assembly, and the inter-finger reversing mechanism is arranged on the rack and used for controlling the rotation of the picking manipulator assembly; one of the picking manipulator components is a fixed mechanical finger, and the other components are rotatable mechanical fingers. The picking manipulator disclosed by the invention realizes sequential movement of different joints of a single finger based on an under-actuated principle, realizes enveloping grabbing of fruits and has good flexibility.
Description
Technical Field
The invention relates to a picking manipulator, in particular to an under-actuated picking manipulator.
Background
The robot picking is usually a peripheral device of a picking robot, and is a device which is arranged at the tail end of a mechanical arm and directly acts on a work object. Because the skin of the bergamot pear is fragile and the shape and the growing environment of the bergamot pear are relatively complex, the fruit and vegetable picking operation becomes the most time-consuming and most labor-consuming operation link in the fruit production chain. For the vulnerability, the shape irregularity and the complex and changeability of the growing environment of various bergamot pears, the design and the research of the mechanical arm of the fruit and vegetable picking robot must combine the agriculture and the characteristics of the fruits. Therefore, adaptive design of the picking manipulator is generally considered to be one of the core technologies of agricultural picking robots.
The type of present manipulator is mostly flexible structure, mainly adopts two to indicate to adsorb clamping device and arc and shears the mechanism, has not enough, the relatively poor problem of commonality of self-adaptation. And partial under-actuated mechanical arms only use under-actuation at different joints for driving a single finger, but each finger still needs a driver for driving, so that the system is complex and the quality is heavier. Therefore, there is a need to provide an under-actuated picking robot.
Disclosure of Invention
The invention aims to provide an under-actuated picking manipulator which can relieve the problems that the manual picking of bergamot pears is time-consuming and labor-consuming, a common manipulator cannot meet special growth conditions of the bergamot pears and the like, and the self-adaptability and the nondestructive property of bergamot pear picking are ensured.
In order to achieve the above object, the present invention provides an under-actuated picking robot fixed to a distal end of a picking robot arm, comprising: the mechanical arm connecting part, the power transmission part, the frame, at least three picking mechanical arm components and the inter-finger reversing mechanism; the head end of the rack is fixedly connected with the mechanical arm connecting frame part, the tail end of the rack is connected with the picking manipulator assembly, the power transmission part is arranged between the mechanical arm connecting frame part and the picking manipulator assembly, and the inter-finger reversing mechanism is arranged on the rack and used for controlling the rotation of the picking manipulator assembly; one of the picking manipulator components is a fixed mechanical finger, and the other components are rotatable mechanical fingers.
The power transmission member includes: the device comprises a driving motor, a lead screw nut assembly and an inter-finger differential assembly; wherein, the lead screw nut subassembly contains: the flange extension frame, the rotating bearing, the flange and the lead screw; the flange extension frame is provided with at least three branch supporting frames, the number of the branch supporting frames is consistent with that of the picking manipulator assemblies, one of the branch supporting frames is a supporting frame for fixing, and the other branch supporting frames are supporting frames for rotating; the flange is fixed in the center of the flange extension frame and is provided with internal threads; one end of the screw rod is fixedly connected with an output shaft of the driving motor, and the other end of the screw rod penetrates through the flange and is in threaded connection with the flange; the number of the inter-finger differential assemblies is consistent with that of the picking manipulator assemblies, one of the inter-finger differential assemblies is a fixed differential assembly, and the other inter-finger differential assemblies are rotatable differential assemblies and comprise: the differential connecting frame, the spring rod II, the differential spring and the spring rod I; the head end of the differential connecting frame of the rotatable differential assembly is rotatably arranged on the support frame for rotation, and the head end of the differential connecting frame of the fixed differential assembly is fixed on the support frame for fixing; the head end of the second spring rod is rotatably connected to the tail end of the differential connection frame, the tail end of the second spring rod is fixedly connected with the head end of the first spring rod, the differential spring is sleeved on the side wall of the first spring rod, and the tail end of the first spring rod is rotatably connected with the picking manipulator assembly.
The frame includes: the palm lower end cover, a plurality of support sliding rods, a palm middle end cover and a palm upper end cover; the palm lower end cover, the palm middle end cover and the palm upper end cover are coaxially and sequentially arranged, and the palm lower end cover is fixedly connected with the mechanical arm connecting part; the head end and the tail end of the supporting sliding rod are respectively positioned on the lower end cover and the middle end cover, penetrate through the flange extending frame and are distributed around the flange, and both ends of the supporting sliding rod are provided with threads which are in threaded connection with threaded holes at corresponding positions of the middle end cover and the lower end cover; the palm middle end cover and the palm upper end cover are opposite and fixed together.
The picking manipulator assembly comprises: a rotatable or fixed finger heel, a proximal knuckle, a middle knuckle, a distal knuckle, an interphalangeal axis, a pressure sensor, an interphalangeal torsion spring, a proximal knuckle push rod, a proximal middle knuckle push rod, a cross rod and a middle and distal knuckle push rod; the near knuckle, the middle knuckle and the far knuckle are sequentially connected through the interphalangeal shaft in a rotating mode; the near knuckle is rotatably connected with the tail end of the near knuckle push rod, the near middle knuckle push rod is rotatably connected with the middle part of the near knuckle push rod, and the tail end of the first spring rod is rotatably connected with the head end of the near knuckle push rod; the joint of the near knuckle and the middle knuckle is also rotationally connected with a cross rod; a short connecting rod is connected between the middle knuckle push rod and the middle knuckle push rod, the head end of the short connecting rod is rotatably connected with the tail end of the middle knuckle push rod and the end part of the cross rod, the tail end of the short connecting rod is rotatably connected with the head end of the middle knuckle push rod, and the tail end of the middle knuckle push rod is rotatably connected with the far knuckle; and pressure sensors are arranged on the inner sides of the proximal knuckle, the middle knuckle and the distal knuckle.
The interphalangeal reversing mechanism comprises: the reversing motor, the motor base, the rotatable finger-heel gear, the intermediate gear, the gear fixing frame and the motor connecting gear; the rotatable finger-heel gear is meshed with the intermediate gear and the intermediate gear is meshed with the motor connecting gear respectively, the intermediate gear and the motor connecting gear are fixed on the gear fixing frame, and the motor connecting gear is sleeved and fixed on an output shaft of the reversing motor and distributed on the palm middle end cover; the rotatable finger heel is fixed with the finger rotatable finger heel gear, and the bottom end of the rotatable finger heel is rotatably connected to the palm middle end cover; the fixed finger of fixed mechanical finger is articulated with palm middle end cover, and fixed finger is with palm upper end cover interference fit.
Preferably, the robot arm link section member comprises: a connecting sleeve and a motor protective shell; one end of the connecting sleeve is fixed at the tail end of the picking mechanical arm, and the other end of the connecting sleeve is fixedly connected with the motor protective shell; the driving motor is fixed in the motor protective shell.
Preferably, one end of the connecting sleeve is rhombic, the other end of the connecting sleeve is cylindrical, the rhombic end of the connecting sleeve is fixedly connected with the tail end of the picking mechanical arm, and the cylindrical end of the connecting sleeve is fixedly connected with the motor protective shell through a screw.
Preferably, the motor protective housing is uniformly distributed with penetrating grooves around.
Preferably, a cylindrical through hole is formed in the fixing support frame in the flange extension frame, cylindrical grooves are formed in the rotating support frames, the outer ring of the rotating bearing is clamped in the grooves and is in interference fit, and the inner ring of the rotating bearing freely rotates; the rotatable differential assembly is arranged in the cylindrical groove, and the fixed differential assembly is fixed in the cylindrical through hole; the head end of the differential connecting frame of the rotatable differential assembly is rotatably arranged in the cylindrical groove, and the head end of the differential connecting frame of the fixed differential assembly is fixed in the cylindrical through hole through a fixing nut.
Preferably, a cushioning material is attached to the inner side of the proximal, middle and distal knuckles.
Preferably, the cushioning material is an elastic material comprising: silica gel.
Preferably, the tail end of the first spring rod is rotatably connected with the head end of the proximal knuckle push rod through a connecting rod pin.
Preferably, the head end of the connecting short rod is rotatably connected with the tail end of the proximal knuckle push rod and the end of the cross rod, the tail end of the connecting short rod is rotatably connected with the head end of the middle distal knuckle push rod, and the tail end of the middle distal knuckle push rod is rotatably connected with the distal knuckle through the push rod connecting pin.
The under-actuated picking manipulator has the following advantages:
(1) according to the picking manipulator disclosed by the invention, the tail end manipulator realizes sequential motion among different joints of a single finger based on an under-actuated principle, realizes enveloping grabbing of fruits and has good flexibility; the lead screw and nut integrated motor is adopted, the requirements of the whole machine on portability, simplicity and the like are met, and the connecting rod type manipulator provides larger grabbing force as much as possible when stably grabbing;
(2) the picking manipulator is provided with two rotatable fingers and one fixed finger which are arranged in a Y shape, and the two rotatable fingers can freely rotate around the finger heel by a certain angle to adapt to the surfaces of fruits with different shapes; the differential mechanism between different fingers consists of a combined mechanism of a lead screw nut and a spring slider, has self-adaptability, namely when one or more fingers are fixed due to obstacles and cannot move continuously, other fingers can move continuously, and when all the fingers stably contact the object to be grabbed, the driving force can be reasonably distributed to each finger through the underactuated mechanism;
(3) the picking manipulator can be realized by a mechanical arm and a carrying AGV trolley, can also be directly suitable for other auxiliary picking machines, is suitable for picking in different growing postures under natural conditions, can pick in different postures according to fruit clustering conditions, is more real and close to manual picking methods, and causes less interference to other fruits and less loss.
Drawings
Fig. 1 is a schematic structural view of an under-actuated picking manipulator of the present invention.
Fig. 2 is a schematic structural view of the power transmission member of the present invention.
Fig. 3 is a schematic structural diagram of the rack of the present invention.
Fig. 4 is a schematic structural view of the picking robot assembly of the present invention.
Fig. 5 is a schematic structural diagram of the inter-finger reversing mechanism of the present invention.
FIG. 6 is an axial cross-sectional view of the interdigital reversing mechanism of the present invention.
Fig. 7 is a schematic diagram of waist picking for an under-actuated picking robot of the present invention.
Reference numbers: 1-a mechanical arm connecting part; 2-a power transmission component; 3-a frame; 4-picking the manipulator assembly; 5-an inter-finger reversing mechanism; 6-a schematic model of a bergamot pear picking method; 11-connecting sleeves; 12-a motor protective housing; 13-a connection screw; 21-flange extension frame; 22-a rotational bearing; 23-a flange; 24-a support for fixation; 25-differential link; 26-inter-axle pin; 27-a second spring rod; 28-a differential spring; 29-spring rod one; 210-a link pin; 211-a retaining ring; 213-fixing the nut; 31-middle palm lower end cap; 32-supporting the sliding rod; 33-palm middle end cap; 34-palm end cap; 35-set screws; 400-rotatable mechanical fingers; 401-fixed mechanical finger; 41-rotatable finger heel; 42-finger heel positioning pin; 43-proximal knuckle; 44-middle knuckle; 45-distal knuckle; 46-interphalangeal axis; 47-a pressure sensor; 48-proximal knuckle push rod; 49-proximal knuckle push rod; 410-a push rod connecting pin; 411-cross bar; 412-middle distal knuckle push rod; 413-inter-finger torsion spring; 414-fixed finger heel; 51-a commutated motor; 52-motor base; 53-rotatable finger-heel gear; 54-intermediate gear; 55-a gear fixing rack; 56-motor connecting gear; 61-local limb position; 62-picking joint points; 63-fruit stem; 64-bergamot pear body; 65-mechanical palm; 66-growth line direction.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example 1
An under-actuated picking robot, see fig. 1-6, attached to the end of a robotic arm, comprising: mechanical arm connecting part 1, power transmission part 2, frame 3, at least three picking manipulator assemblies 4 and interphalangeal reversing mechanism 5. The head end of the frame 3 is connected with the mechanical arm connecting frame part 1, the tail end of the frame is connected with the picking manipulator assembly 4, and the power transmission part 2 is arranged between the mechanical arm connecting frame part 1 and the picking manipulator assembly 4. The picking manipulator assembly 4 is divided into a fixed manipulator finger and a rotatable manipulator finger.
Referring to fig. 1, a robot arm link frame member 1 includes: a connecting sleeve 11 and a motor protective shell 12. One end of the connecting sleeve 11 is fixed at the tail end of the mechanical arm, specifically, the connecting sleeve can be fixedly connected to a flange at the tail end of the mechanical arm through a screw, and the other end of the connecting sleeve is fixedly connected to the motor protective shell 12. Specifically, one end of the connecting sleeve 11 may be a diamond shape, and the other end is a cylinder. The diamond end of the connecting sleeve 11 is fixedly connected with the tail end of the mechanical arm, and the cylindrical end of the connecting sleeve is fixedly connected with the motor protective shell 12 through 4M 4 multiplied by 10 screws. The motor protective housing 12 is evenly distributed with through grooves.
The power transmission member 2 includes: the drive motor, lead screw nut subassembly and indicate differential subassembly between. Wherein the drive motor is fixed within the motor protective housing 12. The lead screw nut assembly includes: flange extension frame 21, rotary bearing 22, flange 23 and lead screw. The flange extension frame 21 has at least three branch support frames, the number of the branch support frames is the same as that of the picking manipulator assemblies 4, one of the branch support frames is a support frame 24 for fixing, and the other branch support frames are support frames for rotating. Specifically, the number of picking manipulator assemblies 4 is 3, and the flange extension 21 has three branch supports, in the form of a Y. The flange 23 is fixed in the center of the flange extension frame 21 and has an internal thread, one end of the screw rod is fixedly connected with the output shaft of the driving motor, and the other end passes through the flange 23 and is in threaded connection with the flange 23. A cylindrical through hole is formed in the flange extension frame 21 on the support frame 24 for fixing, cylindrical grooves are formed in the support frame for rotating, the outer ring of the rotating bearing 22 is clamped in the grooves in an interference fit mode, and the inner ring can rotate freely. The inter-finger differential assembly is divided into a rotatable differential assembly and a fixed differential assembly, and both comprise: a differential connecting frame 25, a second spring rod 27, a differential spring 28 and a first spring rod 29. The rotatable differential assembly is arranged in the cylindrical groove, and the fixed differential assembly is fixed in the cylindrical through hole. The head end of the differential connecting frame 25 of the rotatable differential assembly is rotatably arranged in the cylindrical groove through the rotating bearing 22, and the head end of the differential connecting frame 25 of the fixed differential assembly is fixed in the cylindrical through hole through the fixing nut 213. The head end of the second spring rod 27 is rotatably connected to the tail end of the differential connecting frame 25 through an inter-shaft pin 26, the tail end of the second spring rod is fixedly connected with the head end of the first spring rod 29, and the differential spring 28 is sleeved on the side wall of the first spring rod 29.
Referring to fig. 3, the rack 3 includes: palm lower end cover 31, support glide 32, palm middle end cover 33 and palm upper end cover 34. The palm lower end cover 31, the palm middle end cover 33 and the palm upper end cover 34 are coaxially and sequentially arranged, and the palm lower end cover 31 and the motor protective shell 12 are fixed through 4M 4 multiplied by 15 connecting screws 13. The head end and the tail end of the supporting sliding rod 32 are respectively positioned on the lower end cover 31 and the middle end cover 33, the number of the head end and the tail end can be three, the head end and the tail end penetrate through the flange extension frame 21 and are distributed around the flange 23, and the two ends of the supporting sliding rod 32 are both provided with threads which are in threaded connection with threaded holes at corresponding positions of the middle end cover and the lower end cover. The palm mid end cap 33 and the palm end cap 34 are opposed and fixed together by fixing screws 35.
The picking robot assembly 4 resembles a finger and includes: a rotatable or fixed heel 41, 414, a proximal knuckle 43, a middle knuckle 44, a distal knuckle 45, an interphalangeal shaft 46, a pressure sensor 47, an interphalangeal torsion spring 413, and a push rod mechanism. The push rod mechanism includes: a proximal knuckle push rod 48, a proximal middle knuckle push rod 49, a cross rod 411 and a middle distal knuckle push rod 412. Referring to fig. 4, the proximal knuckle 43, the middle knuckle 44 and the distal knuckle 45 are connected in turn by the interphalangeal shaft 46 in a rotating manner, and the inner sides of the proximal knuckle 43, the middle knuckle 44 and the distal knuckle 45 are attached with a buffer material, so as to avoid damage of fingers to the fruit epidermis during clamping, wherein the buffer material can be an elastic material such as silica gel. The near knuckle 43 is rotatably connected with the tail end of the near knuckle push rod 48, the near middle knuckle push rod 49 is rotatably connected with the middle part of the near knuckle push rod 48, the tail end of the first spring rod 29 is rotatably connected with the head end of the near knuckle push rod 48 through the connecting rod pin 210, and the two ends of the connecting rod pin 210 are limited through the retaining rings 211. The junction of the proximal knuckle 43 and the middle knuckle 44 is also pivotally connected to a cross bar 411. A connecting short rod is connected between the proximal knuckle push rod 49 and the middle distal knuckle push rod 412, the head end of the connecting short rod is rotatably connected with the tail end of the proximal knuckle push rod 49 and the end of the cross rod 411 through a push rod connecting pin 410, the tail end of the connecting short rod is also rotatably connected with the head end of the middle distal knuckle push rod 412 through a push rod connecting pin 410, and the tail end of the middle distal knuckle push rod 412 is rotatably connected with the distal knuckle 45 through a push rod connecting pin 410. The inner sides of the near knuckle 43, the middle knuckle 44 and the far knuckle 45 are all provided with pressure sensors 47 for detecting pressure in an all-round mode, so that grabbing precision is guaranteed, and damage to fruits during grabbing is prevented.
Referring to fig. 3-6, the interphalangeal reversing mechanism 5 includes: a reversing motor 51, a motor base 52, a rotatable heel gear 53, an intermediate gear 54, a gear fixing frame 55 and a motor connecting gear 56. The rotatable finger-heel gear 53 is meshed with the intermediate gear 54, the intermediate gear 54 is meshed with the motor connecting gear 56, the intermediate gear 54 and the motor connecting gear 56 are fixed on the gear fixing frame 55, and the motor connecting gear 56 is sleeved and fixed on the output shaft of the reversing motor 51 and distributed on the palm middle end cover 33. The rotatable finger heel 41 is fixed with the rotatable finger heel gear 53, and the bottom end of the rotatable finger heel 41 is in interference fit with the inner ring of the rotating bearing 22 and is rotatably connected to the palm middle end cover 33, so that two rotatable fingers can freely rotate on the middle end cover 33 around the bearing. The fixed finger heel 414 for fixing the mechanical finger is hinged with the palm middle end cover 33, and the fixed finger heel 414 is limited by the geometric relationship of the interference fit of the fixed finger heel 414 and the palm upper end cover 34.
The use method of the under-actuated picking manipulator of the invention is as follows with reference to fig. 1-6:
(S1) connecting the arm connecting frame part 1 of the under-actuated picking manipulator with the manipulator of the picking robot, checking the state of the under-actuated picking manipulator, and ensuring that the three picking manipulator assemblies 4 are in the unfolded state;
(S2) under the guidance of the machine vision equipment or directly inputting the space coordinate position of the picking target, the mechanical arm drives the under-actuated picking manipulator to move towards the picking target;
(S3) after the spatial position of the fruit picking target is reached, judging the natural growth state of the target fruit, namely whether the target fruit is a multi-cluster fruit, the position arrangement of the multi-cluster fruit and the offset direction of the fruit stalk axis and the plumb line, and picking and grabbing the fruits in a bell-type manner from the outer edge to the inner side and the outer side of a single fruit along the growth line and the multi-fruit according to the growth state of the fruits;
(S4) after the picking mode is determined according to the growth state, the driving motor works, the screw nut component in the power transmission component 2 transmits power to the inter-finger differential component to drive the picking manipulator components 4 to move, so that the picking manipulator components 4 rotate one by one to contact with the fruit epidermis, and the positive pressure when the knuckle of each picking manipulator component 4 is grabbed can be ensured to be uniformly distributed on the two sides of the self axis of the mechanism under the self-stress constraint condition or the sensor feedback stress position in the fruit peel contact process, and finally the positive pressure is in a state of being vertical to the contacted fruit epidermis; correspondingly, the tail end of the fruit is captured according to the sequence that the near, middle and far knuckles contact the fruit under the action of a driving force, when the detection of the sensor of each knuckle reaches a preset pressure value, the driving motor stops working, and the adaptive lossless capture of the picked object is completed;
(S5) according to the fruit growth line direction, under the synergistic effect of the mechanical arms, the tail end of the mechanical arm is used as the center of a circle, the tail end mechanical arm body is used as the radius, and according to the growth position, the fruit is bent and separated by pendulum swinging or front and back stretching along the growth line direction or left or right;
(S6) the manipulator moves to the picking and collecting position, the driving motor rotates reversely, the power transmission part 2 transmits the disengaging force, the fingers are in the unfolding state under the synergistic action of the inter-finger torsion springs 413, and then the manipulator resets;
(S7) repeating the steps (S2) - (S5) until picking is finished.
The under-actuated mechanism is reasonably used among different fingers of the under-actuated picking manipulator, the number of drivers can be further reduced, the structure is simplified, the self-adaptive enveloping clamping of fruits with different shapes can be met, and the advantages of light weight, small size, simplicity and convenience in operation and the like can be considered.
While the present invention has been described in detail with reference to the preferred embodiments, it should be understood that the above description should not be taken as limiting the invention. Various modifications and alterations to this invention will become apparent to those skilled in the art upon reading the foregoing description. Accordingly, the scope of the invention should be determined from the following claims.
Claims (9)
1. An under-actuated picking manipulator, characterized in that, this picking manipulator is fixed at the end of picking arm, contains: the picking manipulator comprises a mechanical arm connecting part (1), a power transmission part (2), a rack (3), at least three picking manipulator assemblies (4) and an inter-finger reversing mechanism (5); the head end of the rack (3) is fixedly connected with the mechanical arm connecting frame component (1), the tail end of the rack is connected with the picking manipulator component (4), the power transmission component (2) is located between the mechanical arm connecting frame component (1) and the picking manipulator component (4), and the inter-finger reversing mechanism (5) is arranged on the rack (3) and used for controlling the rotation of the picking manipulator component (4); one of the picking manipulator assemblies (4) is a fixed mechanical finger, and the other picking manipulator assemblies are all rotatable mechanical fingers;
the power transmission member (2) includes: the device comprises a driving motor, a lead screw nut assembly and an inter-finger differential assembly; wherein, the lead screw nut subassembly contains: the flange extension frame (21), the rotating bearing (22), the flange (23) and the lead screw; the flange extension frame (21) is provided with at least three branch supporting frames, the number of the branch supporting frames is consistent with that of the picking manipulator assemblies (4), one of the branch supporting frames is a supporting frame (24) for fixing, and the other branch supporting frames are supporting frames for rotating; the flange (23) is fixed at the center of the flange extension frame (21) and is provided with internal threads; one end of the screw rod is fixedly connected with an output shaft of the driving motor, and the other end of the screw rod penetrates through the flange (23) and is in threaded connection with the flange (23); the number of the inter-finger differential assemblies is consistent with that of the picking manipulator assemblies (4), one of the inter-finger differential assemblies is a fixed differential assembly, and the others of the inter-finger differential assemblies are rotatable differential assemblies, and the inter-finger differential assemblies all comprise: the differential mechanism comprises a differential connecting frame (25), a second spring rod (27), a differential spring (28) and a first spring rod (29); wherein the head end of the differential connecting frame (25) of the rotatable differential assembly is rotatably arranged on the support frame for rotation, and the head end of the differential connecting frame (25) for fixing the differential assembly is fixed on the support frame (24) for fixing; the head end of the second spring rod (27) is rotatably connected to the tail end of the differential connecting frame (25), the tail end of the second spring rod is fixedly connected with the head end of the first spring rod (29), the differential spring (28) is sleeved on the side wall of the first spring rod (29), and the tail end of the first spring rod (29) is rotatably connected with the picking manipulator assembly (4);
the frame (3) comprises: the palm-shaped sliding support comprises a palm lower end cover (31), a plurality of supporting sliding rods (32), a palm middle end cover (33) and a palm upper end cover (34); the palm lower end cover (31), the palm middle end cover (33) and the palm upper end cover (34) are coaxially and sequentially arranged, and the palm lower end cover (31) is fixedly connected with the mechanical arm connecting part (1); the head end and the tail end of the supporting sliding rod (32) are respectively positioned on the lower end cover (31) and the middle end cover (33), penetrate through the flange extension frame (21) and are distributed around the flange (23), and both ends of the supporting sliding rod (32) are provided with threads which are in threaded connection with threaded holes at corresponding positions of the middle end cover and the lower end cover; the palm middle end cover (33) and the palm upper end cover (34) are opposite and fixed together;
the picking manipulator assembly (4) comprises: a rotatable finger heel (41) or a fixed finger heel (414), a near knuckle (43), a middle knuckle (44), a far knuckle (45), an interphalangeal shaft (46), a pressure sensor (47), an interphalangeal torsion spring (413), a near knuckle push rod (48), a near middle knuckle push rod (49), a cross rod (411) and a middle and far knuckle push rod (412); wherein the near knuckle (43), the middle knuckle (44) and the far knuckle (45) are connected in turn through an interphalangeal shaft (46) in a rotating manner; the near knuckle (43) is rotatably connected with the tail end of a near knuckle push rod (48), a near middle knuckle push rod (49) is rotatably connected with the middle part of the near knuckle push rod (48), and the tail end of the first spring rod (29) is rotatably connected with the head end of the near knuckle push rod (48); the joint of the near knuckle (43) and the middle knuckle (44) is also rotationally connected with a cross rod (411); a short connecting rod is connected between the proximal knuckle push rod (49) and the middle distal knuckle push rod (412), the head end of the short connecting rod is rotatably connected with the tail end of the proximal knuckle push rod (49) and the end of the cross rod (411), the tail end of the short connecting rod is rotatably connected with the head end of the middle distal knuckle push rod (412), and the tail end of the middle distal knuckle push rod (412) is rotatably connected with the distal knuckle (45); pressure sensors (47) are arranged on the inner sides of the proximal knuckle (43), the middle knuckle (44) and the distal knuckle (45);
the inter-finger reversing mechanism (5) comprises: a reversing motor (51), a motor base (52), a rotatable heel gear (53), an intermediate gear (54), a gear fixing frame (55) and a motor connecting gear (56); the rotatable finger-heel gear (53) is meshed with the intermediate gear (54), the intermediate gear (54) is meshed with the motor connecting gear (56) respectively, the intermediate gear (54) and the motor connecting gear (56) are fixed on the gear fixing frame (55), and the motor connecting gear (56) is sleeved and fixed on an output shaft of the reversing motor (51) and distributed on the palm middle end cover (33); the rotatable finger heel (41) is fixed with a finger rotatable finger heel gear (53), and the bottom end of the rotatable finger heel (41) is rotatably connected to the palm middle end cover (33); the fixed finger heel (414) for fixing the mechanical finger is hinged with the palm middle end cover (33), and the fixed finger heel (414) is in interference fit with the palm upper end cover (34).
2. An under-actuated picking manipulator according to claim 1, characterised in that the robot arm link carriage assembly (1) comprises: a connecting sleeve (11) and a motor protective shell (12); one end of the connecting sleeve (11) is fixed at the tail end of the picking mechanical arm (11), and the other end of the connecting sleeve is fixedly connected with the motor protective shell (12); the driving motor is fixed in the motor protective shell (12).
3. The under-actuated picking manipulator according to claim 2, characterized in that one end of the connecting sleeve (11) is a diamond shape, the other end is a cylinder, the diamond end of the connecting sleeve (11) is fixedly connected with the tail end of the picking manipulator, and the cylinder end is fixedly connected with the motor protective shell (12) through a screw.
4. An under-actuated picking manipulator according to claim 2 characterised in that the motor protective housing (12) is evenly distributed with through-going grooves around it.
5. The under-actuated picking manipulator according to claim 1, characterized in that cylindrical through holes are arranged on the support frames (24) for fixing in the flange extension frame (21), cylindrical grooves are arranged on the support frames for rotating, the outer rings of the rotating bearings (22) are clamped in the grooves and are in interference fit, and the inner rings freely rotate; the rotatable differential assembly is arranged in the cylindrical groove, and the fixed differential assembly is fixed in the cylindrical through hole; the head end of the differential connecting frame (25) of the rotatable differential assembly is rotatably arranged in the cylindrical groove, and the head end of the differential connecting frame (25) of the fixed differential assembly is fixed in the cylindrical through hole through a fixing nut (213).
6. The under-actuated picking manipulator according to claim 1, characterized in that the inner sides of the proximal knuckle (43), the middle knuckle (44) and the distal knuckle (45) are attached with a buffer material.
7. The under-actuated picking manipulator according to claim 6, wherein the cushioning material is an elastomeric material comprising: silica gel.
8. The under-actuated picking manipulator according to claim 1, characterized in that the end of the first spring lever (29) is pivotally connected to the head end of the proximal knuckle push rod (48) by a link pin (210).
9. The under-actuated picking manipulator according to claim 1, characterized in that the head end of the connecting short rod and the tail end of the near-middle knuckle push rod (49) and the end of the cross rod (411), the tail end of the connecting short rod and the head end of the far-middle knuckle push rod (412), and the tail end of the far-middle knuckle push rod (412) and the far knuckle (45) are all rotationally connected through the push rod connecting pin (410).
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| CN202110194338.5A CN112970428B (en) | 2021-02-20 | 2021-02-20 | Under-actuated picking manipulator |
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| CN202110194338.5A CN112970428B (en) | 2021-02-20 | 2021-02-20 | Under-actuated picking manipulator |
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| US20210337733A1 (en) * | 2018-05-22 | 2021-11-04 | Octinion Bvba | Improved method and apparatus for automatically picking a fruit |
| CN113681584B (en) * | 2021-09-07 | 2022-12-06 | 河北工业大学 | Mechanical arm |
| CN115648261B (en) * | 2022-10-14 | 2023-05-30 | 北京电子科技职业学院 | Flexible rotary joint, mechanical finger and modularized underactuated mechanical arm easy to disassemble and assemble |
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| CN102282973A (en) * | 2011-07-11 | 2011-12-21 | 浙江理工大学 | Multi-finger under-actuated end effector with sensing function |
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| CN109500834A (en) * | 2018-11-28 | 2019-03-22 | 东莞理工学院 | A kind of end effector mechanism of picking mechanical arm |
| BE1026294A1 (en) * | 2018-05-22 | 2019-12-13 | Octinion Bvba | IMPROVED METHOD AND DEVICE FOR AUTOMATIC FRUIT PICKING |
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| CN102282973A (en) * | 2011-07-11 | 2011-12-21 | 浙江理工大学 | Multi-finger under-actuated end effector with sensing function |
| CN104838809A (en) * | 2015-04-10 | 2015-08-19 | 江苏大学 | Under-actuated three-finger type fruit-vegetable flexible picking device |
| CN104782325A (en) * | 2015-04-30 | 2015-07-22 | 浙江海洋学院 | Under-actuated dexterous mechanical hand for picking fruits and vegetables |
| BE1026294A1 (en) * | 2018-05-22 | 2019-12-13 | Octinion Bvba | IMPROVED METHOD AND DEVICE FOR AUTOMATIC FRUIT PICKING |
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